Intuitive work vehicle vision system for enhanced operator visibility

ABSTRACT

A work vehicle has display devices and cameras coupled to display feeds at display areas. The cameras include a first set on the first side, second side, and central location relative to the first FOV and a second set on a first side, second side, and central location relative to the second FOV. A control system is configured to: in a first mode, display a first set of feeds from the first side, second side, and central location of the display areas so that the feeds are arranged at the first side, second side, and central location relative to the first FOV; and in a second mode, display a second set of feeds from the first side, second side, and central location of the second set at display areas so that the feeds are arranged at the first side, second side, and central location relative to the second FOV.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application is a nonprovisional application, and claims priorityto, of both of U.S. Provisional Patent Application No. 63/165,677 filedMar. 24, 2021 and U.S. Provisional Patent Application No. 63/175,334filed Apr. 15, 2021, each of which is hereby incorporated by reference.

STATEMENT OF FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

Not applicable.

FIELD OF THE DISCLOSURE

This disclosure generally relates a work vehicle system and method, andmore specifically to a multi-camera vision or video display system andmethod for a work vehicle or fleet of work vehicles.

BACKGROUND OF THE DISCLOSURE

Work vehicles utilized within construction, agriculture, forestry,mining, and other industries commonly operate in challenging workenvironments. Operators are often required to carefully navigate suchwork vehicles, while performing various tasks and avoiding surroundingstructures, neighboring work vehicles, and other obstacles. A given workvehicle may be a sizable and complex machine, requiring a relativelyhigh level of operator skill to control the various functions of thework vehicle, in many instances including the movement of boom-mountedimplements or other end effectors. Concurrently, visibility from theoperator station or cabin of the work vehicle may be limited by thechassis of the work vehicle, by the positioning of implements relativeto the cabin, or other visual hinderances. For this reason, certain workvehicles are now equipped with camera systems or “vision systems”providing operators with various views of the surrounding environment.

SUMMARY OF THE DISCLOSURE

The disclosure provides a work vehicle vision system and method for awork vehicle and/or a fleet of work vehicles.

In one aspect, the disclosure provides a work vehicle with an operatorcabin defining a first operator field of view (FOV) aligned with alongitudinal axis extending in a travel direction of the work vehicle,the operator cabin defining a second operator FOV extending along atransverse axis at an angle to the longitudinal axis; one or moredisplay devices within the operator cabin defining a plurality ofdisplay areas arranged at a first side, a second side, and a centrallocation between the first and second sides relative to the firstoperator FOV; and a plurality of cameras carried by the work vehicle andcoupled to the one or more displays to display feeds at the plurality ofdisplay areas. The plurality of cameras includes a first set of theplurality of cameras at or trained on the first side, the second side,and the central location between the first and second sides relative tothe first operator FOV; and a second set of the plurality of cameras ator trained on a first side, a second side, and a central locationbetween the first and second sides relative to the second operator FOV.The work vehicle further includes a control system having processingarchitecture configured to control, or receive control instructionsregarding, the selection of feeds to display at the plurality of displayareas. The control system is configured to: when the work vehicle is ina first mode of operation, display a first set of feeds from theassociated first side, second side, and central location of the firstset of the plurality of cameras at the plurality of display areas sothat the associated feeds are arranged at the first side, the secondside, and the central location, respectively, relative to the firstoperator FOV; and when the work vehicle is in a second mode ofoperation, display a second set of feeds from the associated first side,second side, and central location of the second set of the plurality ofcameras at the plurality of display areas so that the associated feedsare arranged at the first side, the second side, and the centrallocation, respectively, relative to the second operator FOV.

In another aspect, the disclosure provides a vision system for a workvehicle with an operator cabin defining a first operator field of view(FOV) aligned with a longitudinal axis extending in a travel directionof the work vehicle, the operator cabin defining a second operator FOVextending along a transverse axis at an angle to the longitudinal axis.The vision system includes one or more display devices within theoperator cabin defining a plurality of display areas arranged at a firstside, a second side, and a central location between the first and secondsides relative to the first operator FOV and a plurality of camerascarried by the work vehicle and coupled to the one or more displays todisplay feeds at the plurality of display areas. The plurality ofcameras includes a first set of the plurality of cameras at or trainedon the first side, the second side, and the central location between thefirst and second sides relative to the first operator FOV; and a secondset of the plurality of cameras at or trained on a first side, a secondside, and a central location between the first and second sides relativeto the second operator FOV. The vision system further includes a controlsystem having processing architecture configured to control, or receivecontrol instructions regarding, the selection of feeds to display at theplurality of display areas. The control system is configured to: whenthe work vehicle is in a first mode of operation, display a first set offeeds from the associated first side, second side, and central locationof the first set of the plurality of cameras at the plurality of displayareas so that the associated feeds are arranged at the first side, thesecond side, and the central location, respectively, relative to thefirst operator FOV; and when the work vehicle is in a second mode ofoperation, display a second set of feeds from the associated first side,second side, and central location of the second set of the plurality ofcameras at the plurality of display areas so that the associated feedsare arranged at the first side, the second side, and the centrallocation, respectively, relative to the second operator FOV.

The details of one or more embodiments are set forth in the accompanyingdrawings and the description below. Other features and advantages willbecome apparent from the description, the drawings, and the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A-1C are views of a first example work vehicle with a visionsystem in accordance with an embodiment of this disclosure;

FIG. 2 is a view of a second example work vehicle with the vision systemin accordance with an embodiment of this disclosure;

FIGS. 3A and 3B are cabin views of a display arrangement of the visionsystem in an example work vehicle in accordance with an embodiment ofthis disclosure;

FIG. 4 is an example schematic block diagram of the vision system inaccordance with an embodiment of this disclosure;

FIGS. 5A-5E are schematic example plan view representations of variousfields of view (FOVs) associated with the vision system in accordancewith an embodiment of this disclosure; and

FIG. 6 is an example display generated by the vision system inaccordance with an embodiment of this disclosure.

Like reference symbols in the various drawings indicate like elements.

DETAILED DESCRIPTION

This disclosure generally relates to work vehicle multi-camera vision orvideo display system that enables an operator of a work vehicle tointuitively monitor multiple camera feeds providing different viewsaround and/or within the work vehicle. The following describes one ormore example embodiments of the disclosed vision system, method, workvehicle, or fleet, as shown in the accompanying figures of the drawingsdescribed briefly above. Various modifications to the exampleembodiments may be contemplated by one of skill in the art.

In the agriculture, construction, and forestry industries, work vehiclesare utilized to perform tasks in various types of environments.Operators are often required to carefully navigate such environment,while performing various tasks and avoiding surrounding structures,neighboring work vehicles, and other obstacles. Visibility from theoperator station or cabin of the work vehicle may be limited by thechassis of the work vehicle, by the positioning of the work implementsrelative to the cabin, or other visual hinderances, as well as byunfamiliar displays and systems. For this reason, work vehicles may beequipped with camera systems or “vision systems” providing operatorswith a display arrangement on which the camera feeds are presented foroperator viewing.

This notwithstanding, it can be difficult to design a multi-cameravision system simultaneously providing an operator with multiple camerafeeds, while further permitting the operator to readily receive andunderstand the feeds. Moreover, although many types of work vehicleshave cameras, such views are conventionally very specific, such as viewsof a front hitch, a rear hitch, a discharge spout, and/or a seed orgrain tank. However, these views typically only cover a portion of theoverall operational need. Such needs may be dramatically differentbetween operators, operations, and/or from one machine or model to thenext. Additionally, operator attempts at obtaining preferred views inconventional systems may involve uncomfortable operator positions,leaving the cabin, using a spotter, or making assumptions about thevehicle environment. In a multi-camera system, it may be difficult foran operator to quickly ascertain the context of each view. Thus, if notproperly designed, multi-camera vision systems can potentially intensifyoperator mental workload and increase heads-down time.

Overcoming many, if not all of the above-noted disadvantages, thesystems and methods described herein enabling operators to monitor andnavigate between multiple camera feeds associated with a work vehicle ina highly intuitive manner. In embodiments, the multi-camera visionsystem includes multiple cameras mounted at different locations about agiven work vehicle to capture camera (live video) feeds of the workvehicle's surrounding environment from various different vantage points,viewpoints or viewing angles. Embodiments of the multi-camera visionsystem may include at least one, if not multiple rear, forward, leftside, right side, and interior (e.g., in operational, filling, loading,unloading areas) vehicle cameras, depending upon work vehicle size,type, and other factors. The vehicle-mounted cameras (or, more simply,“vehicle cameras”) can each capture any desired portion or region of awork vehicle's surrounding environment, whether generally located to thefront, to a side, or to the rear of the work vehicle.

Embodiments of the multi-camera vision system further include acontroller and at least one display device, which functions within acabin or other operator station of the work vehicle. During operation ofthe multi-camera vision system, the controller supplies the displaydevice with appropriate signals (video output signals) to generate amulti-camera display on a screen of the display device. In the mannerdescribed herein, a highly intuitive multi-camera display is thuscreated enabling an operator of a work vehicle to readily appreciate theavailability of multiple camera feeds, to simultaneously monitor thecontent of each camera feed, and to intuitively determine the camerafeeds being presented on the various display devices. As such, thepresent disclosure is directed to an integrated system and method thatenhance operational performance by intelligently showing neededinformation and/or imagery in a consistent and repeatable manner acrosscab platforms and products.

According to the present disclosure, many large and medium sizedagricultural machines have common visibility themes that mayaccommodated by a platform implemented as a vision system or methodacross fleets of similar or different machines, thereby creating afamiliarity and expectation for the operator from one machine to theother. Selected views may optimally reduce the need for an operator toswivel or leave the cab as often, thereby saving time, mitigatingfatigue, and improving effectiveness and efficiency. This furtherresults in improved operator experience that may be mapped and relatablefrom machine to machine to reduce set up time. Moreover, the system isflexible to accommodate supplemental views for unique visualperspectives without an added secondary video system that wouldotherwise be required. Thus, operators of different machine platformscan view feeds of similar areas around or features of each machine insimilar or common display areas within the operator cabin. As a result,the vision system provides improved visibility during transport and infield to prevent damage to machines and property, aid in operation, andgain trust and validation in automation via a collection of standardizedviews.

In one example, one or more display devices may be provided along aforward upper headliner within the cabin to provide optimal views in theforward direction within an ergonomic field of view of the operator. Thepositioning of the display devices enable an operator to focus in theforward view on the task at hand with less distractions of physicalcontortions or frequent stopping to access job quality, spatialawareness, and the like. The present disclosure provides a modular orscalable solution that may be used across multiple platforms withvarying needs to provide a backbone that may then be iterated upon torapidly adapt to customer display needs. Moreover, the vision system maybe configurable and have the capability to determine the operationalcontext and implement an appropriate configuration to automaticallyrender the images and information that are most appropriate or usefulfor the context. In some examples, information may be provided by thevision system within themes or situations of operation (e.g., planting,tilling, harvest, transport, etc.) to provide the most useful viewsand/or to reduce the setup time for each specific operation at differentoperator fields of view (e.g., a forward view for a transport situation,straight ahead view for a working situation, and/or an implement viewwhen using an implement). In particular, different camera groupings foreach field of view can be selected and displayed in an intuitive mannerfor the operator.

As appearing herein, the term “surrounding environment” is utilized in abroad sense to refer to a work environment or area located outside of awork vehicle, whether generally located to the front, to a side, or tothe rear of the work vehicle, or any combination thereof. Further, theterm “display” refers an image or “picture” generated on the screen of adisplay device, while the term “display device” refers to animage-generating device on which a display (e.g., the below-describedmulti-camera display) is presented. The terms “front,” “rear,” “right,”“central,” “left”, “forward”, and “rearward” may be defined relative tothe orientation of an operator when seated in the operator station(e.g., cabin) of the work vehicle in a forward-facing position.

Additional details regarding the multi-camera vision or video displaysystem and method for a work vehicle or fleet of work vehicles will beprovided below.

FIGS. 1A-1C are views of a self-propelled work vehicle (or sprayer) 100on which an intuitive work vehicle vision system 102 may be implementedfor enhanced operator visibility. The view of FIG. 1A is an isometricview of the work vehicle 100; the view of FIG. 1B is a plan view of thework vehicle 100; and the view of FIG. 1C is a side view of the workvehicle 100. Generally, the vision system 102 may be considered toinclude a controller (or control system) 104, one or more operatorinterfaces 106, a set of cameras 108, a display arrangement 110, and oneor more sensors 112, each of which will be described in greater detailbelow after an introduction of the other components of the work vehicle100.

Although the vision system 102 is described with reference to a sprayeras the work vehicle 100 in FIGS. 1A-1C, the vision system 102 may beimplemented in any type of work vehicle. In particular, other workvehicles may have similar controllers, cameras, display arrangements,and sensors that provide a common “look and feel” across differentvehicles, including other models and types of vehicles. In effect, thevision system 102 may provide a common and consistent set of views toincrease operator confidence and consistency when changing vehicles.

In the example of FIGS. 1A-1C, the work vehicle 100 as a sprayer isequipped with various types of apparatuses to perform a work function(e.g., spraying), including in this example, a spray system 120 withspray booms 122 mounted to the rear or aft end of a chassis 124. Thechassis 124 of the work vehicle 100 is supported by a number ofground-engaging wheels 126, which are driven by an engine (not shown indetail) contained in an engine compartment adjacent an operator stationor cabin 128 of the work vehicle 100. Although not shown in detail, thespray system 120 includes a spray material delivery arrangement carriedby the chassis 124 with one or more supply tanks 130 that hold andsupply spray solution (or other liquid material) for distribution. Thespray solution is distributed via a number of spray system equipment(e.g., nozzles, valves, feed pipes, supply pipes, lines, flexibletubing, etc.) as the work vehicle 100 travels over the field underoperator command or under autonomous command.

In the example of FIGS. 1A-1C, segments of the spray booms 122 arefolded, such as for transport or storage. Upon deployment, the segmentsof the spray booms 122 are extended from each side of the work vehicle100 in a generally transverse orientation. In the discussion herein, theterm “longitudinal” refers to a generally axis of travel of the vehicle100 (e.g., from front to back); and the term “transverse” refers to thedirection parallel to a longitudinal axis (e.g., side to side). In theexample of FIGS. 1A-1C, the spray booms 122 are folded, such as fortransport or storage.

Although not shown or discussed in detail, the work vehicle 100 may haveadditional systems and components typical for such vehicles, including apropulsion system, a steering system, a braking system, and variousactuation systems that facilitate operation of the work vehicle 100based on operator commands (e.g., via operator interface 106).

Returning to the vision system 102, the controller 104 generallyimplements operation of the vision system 102, as well as other systemsand components of the work vehicle 100, including any of the functionsdescribed herein. The controller 104 may be configured as computingdevices with associated processor devices and memory architectures. Thecontroller 104 may encompass or may be associated with any practicalnumber of processors (central and graphical processing units), controlcomputers, navigational equipment pieces, computer-readable memories,power supplies, storage devices, interface cards, and other standardizedcomponents. The controller may also include or cooperate with any numberof firmware and software programs or computer-readable instructionsdesigned to carry-out the various process tasks, calculations, andcontrol/display functions described herein. Such computer-readableinstructions may be stored within a non-volatile sector of a memoryassociated with the controller. The memory can encompass any number andtype of storage media suitable for storing computer-readable code orinstructions, as well as other data utilized to support the operation ofthe multi-camera vision system. The memory may be integrated into thecontroller 104 in embodiments as, for example, a system-in-package, asystem-on-a-chip, or another type of microelectronic package or module.

As such, the controller 104 may be configured to execute variouscomputational and control functionality with respect to the vehicle 100.The controller 104 may be in electronic, hydraulic, or othercommunication with various other systems or devices of the vehicle 100,including via a CAN bus (not shown). For example, the controller 104 maybe in electronic or hydraulic communication with various actuators,sensors, and other devices within (or outside of) the vehicle 100. Thecontroller 104 may include or otherwise access various types ofdatastores, including at least one datastore associated with the visionsystem 102.

In some embodiments, the controller 104 may be configured to receiveinput commands and to interface with an operator via the operatorinterface 106, including typical steering, acceleration, velocity,transmission, and wheel braking controls, as well as other suitablecontrols. The operator interface 106 may be configured in a variety ofways and may include one or more joysticks, various switches or levers,one or more buttons, a touchscreen interface, a keyboard, a speaker, amicrophone associated with a speech recognition system, or various otherhuman-machine interface devices.

As introduced above, the vision system 102 may include a set of cameras108 arranged around and within the work vehicle 100. Although a numberof example cameras 108 are discussed below, additional cameras may beprovided and/or one or more of the cameras discussed below may beomitted. Further, while primarily described below as video camerascapturing imagery falling within the visible band of the electromagneticspectrum, other types of imaging devices (e.g., infrared cameras) canalso be integrated into the multi-camera vision system in alternativeimplementations, with the imagery captured by such devices presented onthe below-described multi-camera display accordingly. The vehiclecameras 108 are operably coupled to (that is, in signal communicationwith) the controllers 104 with either wireless or wired dataconnections. The set of cameras 108 includes a number of depictedcameras 108 a-108 g, as best shown by FIG. 1B with associated field ofviews (FOVs).

The set of cameras 108 may include a front camera 108 a positioned on arelative forward part of the chassis 124 of the vehicle 100 and orientedin a forward direction of travel. The front camera 108 a may provide arelatively wide angle FOV to capture views of machine clearance and/orobjects immediately in front of the work vehicle 100.

The set of cameras 108 may further include left and right frontforward-facing cameras 108 b positioned on a relative front or forwardpart of the side of the vehicle 100 and oriented in a forward directionof travel. The left and right front forward-facing cameras 108 b provideand relatively narrow angle FOVs to capture views of machine clearance,obstacle, implements, and the like.

The set of cameras 108 may further include left and right rearforward-facing cameras 108 c positioned on a relative rear part of theside of the vehicle and oriented in a forward direction of travel. Theleft and right rear forward-facing cameras 108 c provide relatively wideFOVs for views of machine clearance, particularly when encounteringrelatively narrow roadways, oncoming attractions, and otherobstructions.

The set of cameras 108 may further include left and right “mirror”cameras 108 d positioned on a forward or middle part of the side of thevehicle 100 (e.g., in respective positions corresponding to side mirrorsof an automobile) and oriented in a rearward direction of travel. Theleft and right mirror cameras 108 d provide views of along the sides ofthe work vehicle 100.

The set of cameras 108 may further include left and right intersectioncameras 108 e positioned on a relatively forward or part of the side orhood of the vehicle 100 and oriented in a side-to-side or alongtransverse axis to the direction of travel. The left and rightintersection cameras 108 e provide views around any obstructions,particularly at intersections or upon entering roadways.

The set of cameras 108 may further include one or more “C-post” cameras108 f positioned on the sides of the vehicle cabin 128 and oriented in aside-to-side or along transverse axis to the direction of travel. Theleft and right C-post cameras 108 f provide views along an extended boom122, e.g., during a spraying operation.

The set of cameras 108 may further include at least one rear camera 108g that positioned on a rear portion of the vehicle 100 and orientedrearward. The rear camera 108 g may be adjustable and generally providesviews of trailing traffic and any center section or portion of towedimplements (e.g., sprayers) at the rear of the vehicle.

One or more of the cameras 108 depicted in FIG. 1 may be omitted, and/orone or more cameras may be added. For example, although not shown, thecameras may further include one or more cameras associated withimplements or working apparatuses (e.g., to load or unload bins or tanks130).

In one particular example, the vision system 102 includes the displayarrangement 110 with one or more display devices render displays basedon commands from the controller 104. Generally, the display devices ofthe display arrangement 110 may be otherwise standard display deviceswithin the cabin 128, such as LCD or LED screens. The display devices ofdisplay arrangement 110 may be mounted on the cab console,window-mounted, or head-mounted. In addition to display arrangement 110,other output devices may be utilized to convey all or a portion of theinformation discussed below, including analog or digital gauges, othergraphical or textual displays, and audio or haptic mechanisms. Examplesof the displays generated by the controller 104 and rendered on thedisplay arrangement 110 are discussed in greater detail below.

As introduced above, the vision system 102 may, in some examples,include one or more sensors 112 that facilitate any of the operationdescribed herein. For example, the sensors 112 may include environmentsensors that collect information about the environment of the workvehicle 100; position sensors that collect information associated withthe location, velocity, acceleration, heading, and/or orientation of thework vehicle 100; and/or vehicle sensors that collect informationassociated with the various components, systems, and/or implements onthe work vehicle 100.

As described below, the vision system 102 operates to display selectedfeeds from the cameras 108 on the various display devices of displayarrangement 110 based on display signals from the controller 104, whichin turn are based on operator inputs via the operator interface 106,sensor data from sensors 112, stored data, and/or other information. Asnoted, the vision system 102 may be implemented across similar orotherwise dissimilar work vehicles, including the work vehicle discussedbelow with reference to FIG. 2 .

Generally, FIG. 2 is a schematic view of another agricultural workvehicle 200 in which a vision system 202 analogous to the vision system102 discussed above and below may be implemented. Generally, the workvehicle 200 is in the form of a harvester with various apparatuses toperform a work task (e.g., harvesting), including a corn head thatfunctions to process corn.

Unless otherwise noted, the vision system 202 of vehicle 200 performsthe functions and generates analogous views to the vision system 102 ofvehicle 100. As such, many of the analogous components (e.g.,controller, operator interface, display arrangement, and sensors) willnot be described again. The vision system 202 is merely presented as afurther example of how the vision system according to the disclosureherein may be applied across vehicles and vehicle models. In someexamples, settings for the vision systems 102, 202, some of which aredescribed below, may be shared via a cloud-based data transfer and/orvia key fobs or other operator-based identification. Due to thedisparate functions and vehicle configurations, the vision system 202 ofFIG. 2 may not have an identical set of cameras 208 as those of thevision system 102 of FIG. 1 . However, one or more analogous views maybe provided for each vision system 102, 202. For example, the cameras208 (schematically shown) of vision system 202 may include a frontcamera 208 a oriented at the front of the vehicle 200 and facingforward; left and right front forward-facing cameras 208 b positioned ona relative front or forward part of the side of the vehicle 200 andoriented in a forward direction; left and right rear forward-facingcameras 208 c positioned on a relative rear part of the side of thevehicle 200 and oriented in a forward; left and right mirror cameras 208d positioned on a forward or middle part of the side of the vehicle 200(e.g., in respective positions corresponding to side mirrors of anautomobile) and oriented in a rearward direction; left and rightintersection cameras 208 e positioned on a relatively forward or part ofthe side or hood of the vehicle 200 and oriented in a side-to-side oralong transverse axis; cabin cameras 208 f positioned on the sides ofthe vehicle cabin and oriented in a side-to-side or along transverseaxis; at least one rear camera 208 g that positioned on a rear portionof the vehicle 200 and oriented rearward; and an output camera 208 horiented on the end of the output chute. Generally, the vision system202 operates in a similar manner to the vision system 102 introducedabove and discussed in greater detail below.

In addition to the work vehicles 100, 200 of FIGS. 1A-1C and FIG. 2 ,the vision systems 102, 202 may be implemented on any type machine,including within agriculture, construction, or forestry industries.Additional examples include tractors, loaders, forager, tillers, dumptrucks, backhoes, loaders, graders, dozers, scrapers, skid steers,feller bunders, and the like.

The views of FIGS. 3A and 3B provide examples of the display arrangement110 in cabin 128 discussed above with reference to FIG. 1 , although theconfiguration depicted therein may also be applicable to the visionsystem of other work vehicles. In one example, the display arrangement110 may be considered three primary display devices 140 a, 140 b, 140 c,which may be embodied as separate display devices and/or as a larger,single display device with individual screens or screen portions. Theprimary display devices 140 a, 140 b, 140 c may be considered to includea first (or left) primary display device 140 a, a second (or right)primary display device 140 b, and a third (or center) primary displaydevice 140 c. In the example depicted by FIG. 3A, the primary displaydevices 140 a, 140 b, 140 c are aligned horizontally, along a transverseaxis, on the roof or on an upper portion of the windshield. In theexample depicted by FIG. 3B, the first and second primary displaydevices 140 a, 140 b may be arranged on the C-posts on either side ofthe windshield, and the third primary display device 140 c may bearranged on the roof or an upper portion of the windshield.

Generally, the primary display devices 140 a, 140 b, 140 c provideintuitive views of the surrounding environment and/or within the workvehicle based in a manner that improves the spatial awareness andunderstanding of the operator. A number of additional or auxiliarydisplay devices 142, 144 may be provided that depict various types ofinformation associated with the work vehicle, the task, the environment,and/or the fleet. The display devices 142, 144 may render informationsuch as job quality, job settings, automation status, visibility,control or convenience configuration, state or configuration feedback,management data, platform or vehicle-specific information, infotainment,and the like.

Referring to FIG. 4 , a block diagram illustrates an embodiment of thevision system 102 implemented by the controller 104 (as well as operatorinterface 106, cameras 108, display arrangement 110, and sensors 112).Generally, the controller 104 may be considered a vehicle controller, adedicated controller, or a combination of controllers. In some examples,the controller 104 may be organized as one or more functional units ormodules (e.g., software, hardware, or combinations thereof). As anexample, each of such modules may be implemented with processingarchitecture such as a processor 114 and memory 116, as well as suitablecommunication interfaces. For example, the controller 104 may implementthe modules and/or functionality with the processor 114 based onprograms or instructions stored in memory 116. In some examples, theconsideration and implementation of the vision system 102 by thecontroller 104 are continuous, e.g., constantly active. In otherexamples, the activation may be selective, e.g., enabled or disabledbased on input from the operator or other considerations.

Generally, the controller 104 may receive input data in a number offorms and/or from a number of sources, including the operator interface106, cameras 108, and sensors 112, as well as various datastores, storedseparately or in memory 116. Moreover, such input data may also come infrom other systems or controllers, either internal or external to thework vehicle 100. This input data may represent any data sufficient toselect and display the camera feeds on the appropriate display device140 a, 140 b, 140 c in a manner that provides an intuitive operatorexperience across work vehicles.

In particular, the controller 104 may receive camera feeds from thevarious cameras 108 representing the live video feed from each camera108. At times, the controller 104 may receive input data from a numberof cameras 108 that may be stitched together into a single video feed.Moreover, an individual camera 108 may be used to provide more than onevideo feed (e.g., breaking up a field of view into multiple feeds and/orseparating out a feed into feeds with various levels of zoom or focus).The controller 104 may also receive sensor information from sensors 112and/or operator input information from the operator interface 106;and/or platform or framework data from a datastore or memory 116.

In addition to the video feeds and images discussed below, thecontroller 104 may also provide and/or consider the camera feeds withrespect to other systems associated with the work vehicle 100 (or fleetof vehicles). For example, the images of the camera feeds may be used inautonomous or semi-autonomous control operations. Moreover, such imagesmay be remotely viewed or evaluated by a control or fleet operation.

Generally, the vision system 102 may have a preset or baseline settingthat is common from vehicle to vehicle and/or from model to model. Thepreset baseline setting may result in analogous views being rendered onparticular display devices, including modifying such views based oncommon conditions and/or situations. Such preset or baseline settingsmay be modified by the operator and/or owner of the work vehicle 100. Inparticular, the vision system 102 may receive operator information viathe operator interface 106 or from another source (e.g., a key fob,smartphone, or remote communication). The operator settings may specifyoperator preferences for the displays discussed herein.

The controller 104 further receives sensor information, and suchinformation may be evaluated to determine a present situation (or“mode”) for the vehicle 100. Situation information may also be providedvia the operator interface 106. The situations may include, as examples,a transport situation, an intersection situation, afolding/unfolding/parking situation, a working situation, and/or afilling/levels situation, which are discussed in greater detail below.Additional situations may be considered, including a fault situation, apreparation situation, a warm-up situation, and the like. The sensorinformation used to determine the situation may include vehicle speed,vehicle direction, gear, status of implements, and the like.

Generally, the controller 104 selects from the camera feeds and rendersselected camera feeds on selected display devices 140 a, 140 b, 140 c.In some examples, the controller 104 may activate a selected feed (e.g.,activate or power the assigned camera) upon selecting the feed. As notedabove, the display devices 140 a, 140 b, 140 c are generally arranged ina left, right, and center configuration, respectively. Generally, thefeeds assigned to each display device are selected to collectivelymaintain an intuitive left, right, and center configuration. Forexample, “center” views (e.g., either forward or rearward facing) aretypically rendered on the third display device 140 c, and “side” views(e.g., forward or rearward facing) are typically rendered on the firstand second display devices 140 a, 140 b, as appropriate for the left andright views.

In one example, the controller 104 selects the camera feeds based on thedetermined situation, discussed above. In particular, as the situationchanges, the displays rendered on the display devices 140 a, 140 b, 140c may be modified to present the feeds that are most appropriate orrelevant to the situation. Examples are provided below with reference toFIGS. 5A-5E.

As such, in effect, the vision system 102 may be applicable to a workvehicle fleet in which each work vehicle (e.g., vehicles 100, 200) has aset of display devices within the operator cabin, each defining aplurality of display areas arranged at a first side of the respectivework vehicle (e.g., device 140 a), a second side of the respective workvehicle (e.g., device 140 b), and a central location of the respectivework vehicle (e.g., device 140 c) between the first and second sidesrelative to an operator FOV (e.g., each operator FOV for the respectivevehicle); a set of cameras (e.g., cameras 108) carried by each workvehicle, each set of cameras having a respective at least one camera ator trained on the first side, the second side and the central locationbetween the first and second sides relative to each operator FOV; and acontroller 104 configured to display a standard set of feeds from theassociated first side, second side, and central location of each set ofcameras at the first set of display areas so that the associated feedsare arranged at the first side, the second side and the centrallocation, respectively, relative to the respective operator FOV. Inother words, the vision system 102 may be implemented across differentmodels or platforms to provide a consistent “look and feel” for anoperator or operators. In the examples of FIGS. 1A-C and 2, the sprayerand harvester have analogous camera positions, display areas, and viewsor feeds provided to the operator.

Moreover, the vision system 102 may be applicable to a work vehicle withan operator cabin defining a first operator field of view (FOV) alignedwith a longitudinal axis extending in a travel direction of the workvehicle and a second operator FOV extending along a transverse axis atan angle to the longitudinal axis; one or more display devices withinthe operator cabin defining a plurality of display areas arranged at afirst side, a second side and a central location between the first andsecond sides relative to the first operator FOV; a plurality of camerascarried by the work vehicle and coupled to the one or more displays todisplay feeds at the plurality of display areas, the plurality ofcameras including: a first set of the plurality of cameras at or trainedon the first side, the second side and the central location between thefirst and second sides relative to the first operator FOV; and a secondset of the plurality of cameras at or trained on a first side, a secondside and a central location between the first and second sides relativeto the second operator FOV; and a controller having processingarchitecture configured to control, or receive control instructionsregarding, the selection of feeds to display at the plurality of displayareas, the control system is configured to: when the work vehicle is ina first mode of operation, display a first set of feeds from theassociated first side, second side and central location of the first setof the plurality of cameras at the plurality of display areas so thatthe associated feeds are arranged at the first side, the second side andthe central location, respectively, relative to the first operator FOV;and when the work vehicle is in a second mode of operation, display asecond set of feeds from the associated first side, second side andcentral location of the second set of the plurality of cameras at theplurality of display areas so that the associated feeds are arranged atthe first side, the second side and the central location, respectively,relative to the second operator FOV.

As such, upon determining the appropriate settings, the situation,and/or context information, the controller 104 generates displaycommands for each display device 140 a, 140 b, 140 c that to render theselected view, particularly of one or more work apparatuses performing afunction. Upon generating the display signals and rending the displays,the controller 104 continues to collect information and update thedisplay devices 140 a, 140 b, 140 c.

FIGS. 5A-5E are schematic representations of example fields of view(FOVs) associated with the work vehicle (e.g., vehicle 100) in varioussituations, although other are possible and/or not all FOVs arerequired. Typically, each FOV is associated with a camera (e.g., cameras108), and FOVs are depicted at situations in which the associated camerais active, on, and/or being displayed on one or more of the displaydevices (e.g., display devices 140 a, 140 b, 140 c). It should be notedthat, at times, the FOV of a particular camera may be modified, e.g., byadjusting the focal length or the orientation of the respective camera.Generally, the modes depicted in FIGS. 5A-5C may be considered“non-working modes” (e.g., transport mode, intersection mode, and/orset-up mode) and at least the mode depicted in FIG. 5D may be considereda “working mode.” Depending on the particular task, the mode depicted inFIG. 5E (e.g., the filling mode) may be considered a working ornon-working mode. As noted above, the vision system 102 mayautomatically determine the appropriate mode based on sensor information(e.g., based on speed; based on surroundings, such as roadway, field, orintersection; based on implement position; based on diagnostic, error,or alert codes; and the like).

As shown in FIG. 5A, an implementation of the vision system 102 isdepicted when the work vehicle is in a “transport” situation or mode,e.g., when the work vehicle 100 is traveling down a roadway. In thetransport situation, left and right rear forward-facing cameras (e.g.,rear forward-facing cameras 108 c of FIG. 1B) are active such that theresulting FOVs are oriented along each side in a forward direction.Further in the transport situation, a rear camera (e.g., rear camera 108g of FIG. 1B) is active such that the resulting FOV is relativelycentered and rearward facing. As one example of operation during thetransport situation and additionally referring to FIGS. 1B and 4 , thecontroller 104 may render the feed from the left rear forward-facingcamera 108 c on the first or left primary display device 140 a, the feedfrom the right rear forward-facing camera 108 c on the second or rightprimary display device 140 b, and the feed from the rear camera 108 g onthe third or center primary display device 140 c.

Referring to FIG. 5B, an implementation of the vision system 102 isdepicted when the work vehicle 100 is in an “intersection” situation ormode, e.g., when the work vehicle 100 is approaching a roadwayintersection or otherwise turning onto a roadway or other type of path.In the intersection situation, a front camera (e.g., camera 108 a ofFIG. 1B), left and right mirror cameras (e.g., cameras 108 d of FIG.1B), left and right intersection cameras (e.g., cameras 108 e of FIG.1B), and rear camera (e.g., rear camera 108 g of FIG. 1B) may be active.As one example of operation during the intersection situation andadditionally referring to FIGS. 1B and 4 , the controller 104 may renderthe feed from the left intersection camera 108 e on the first or leftprimary display device 140 a, the feed from the right intersectioncamera 108 e on the second or right primary display device 140 b, andthe feed from the rear camera 108 g on the third or center primarydisplay device 140 c. Alternatively or additionally, the feed from theleft and right mirror cameras 108 d may be displayed with or in lieu ofthe intersection cameras 108 e on the first and second primary displaydevices 140 a, 140 b, respectively, and the feed from front camera 108 amay be displayed with or in lieu of the rear camera 108 g on the thirdprimary display device 140 c.

Referring to FIG. 5C, an implementation of the vision system 102 isdepicted when the work vehicle 100 is in a folding/unfolding/parking (or“set-up”) situation or mode, e.g., when the work vehicle is folding orunfolding an implement such as sprayer boom, hooking up to otherimplements or apparatuses, and/or when parking or maneuvering. In anexample set-up situation, left and right C-post cameras (e.g., cameras108 f of FIG. 1B) and rear camera (e.g., camera 108 g of FIG. 1B) may beactive. As one example of operation during the set-up situation andadditionally referring to FIGS. 1B and 4 , the controller 104 may renderthe feed from the left C-post camera 108 f on the first or left primarydisplay device 140 a, the feed from the right C-post camera 108 f on thesecond or right primary display device 140 b, and the feed from the rearcamera 108 g on the third or center primary display device 140 c.

Referring to FIG. 5D, an implementation of the vision system 102 isdepicted when the work vehicle 100 is in a “working” situation or mode,e.g., when the work vehicle 100 is performing a designated work task. Inan example working situation, front camera (e.g., camera 108 a of FIG.1B), left and right front forward-facing cameras (e.g., cameras 108 b ofFIG. 1B), left and right mirror cameras (e.g., cameras 108 d of FIG.1B), and rear camera (e.g., camera 108 g) may be active. As one exampleof operation during the working situation and additionally referring toFIGS. 1B and 4 , the controller 104 may render the feed from the leftfront forward-facing camera 108 d on the first or left primary displaydevice 140 a, the feed from the right front forward-facing camera 108 bon the second or right primary display device 140 b, and the feed fromthe rear camera 108 g on the third or center primary display device 140c. Alternatively or additionally, the feed from the left and rightmirror cameras 108 d may be displayed with or in lieu of the frontforward-facing cameras 108 b on the first and second primary displaydevices 140 a, 140 b, respectively, and the feed from front camera 108 amay be displayed with or in lieu of the rear camera 108 g on the thirdprimary display device 140 c.

Referring to FIG. 5E, an implementation of the vision system 102 whenthe work vehicle is in a “filling” situation or mode, e.g., when thework vehicle is performing a being loaded (or unloaded) with material.In an example filling situation, one or more front alignment cameras maybe active to provide a view of a coupling or engagement with a source ofmaterial; and one or more tank or bin cameras may be active to providean indication of the level material in the tank or bin. As one exampleof operation during the working situation and additionally referring toFIG. 4 , the controller 104 may render the feed from the front alignmentcamera on one or both of the first and/or second primary display devices140 a, 140 b, and the feed from the tank or bin camera on the third orcenter primary display device 140 c. Similar or analogous views may alsobe initiated by one or more error or alert codes associated with adiagnostic system on the vehicle 100. For example, an error codeassociated with an issue with a bin or tank (e.g., a clog or emptysignal) may initiate an automatic view of the bin or tank, as shown inFIG. 5E such that an operator may visually inspect the area. As furtherexamples, diagnostic codes associated with plugs, missed or skippedpaths, or the like may initiate a view of the subject vehicle orimplement element or aspect of the environment.

Accordingly, the vision system 102 depicted in FIGS. 5A-5E provides anexperience for an operator that is consistent across situations. Inother words, although the particular views or feeds change, thestructure of left, right, and center views between the cameras 108 andthe display devices 140 is maintained.

The views of FIG. 6 depict one example implementation of the visualdisplays rendered on a first primary display device 172 (e.g.,corresponding to display device 140 a of FIG. 4 ), a second primarydisplay device 174 (e.g., corresponding to display device 140 b of FIG.4 ), and a third primary display device 176 (e.g., corresponding todisplay device 140 a of FIG. 4 ). The situation depicted on the primarydisplay devices 172, 174, 176 in FIG. 6 corresponds to the transportsituation of FIG. 5A. As such, the feed from the left rearforward-facing camera (e.g., camera 108 c of FIG. 1B) is rendered on thefirst or left primary display device 172, the feed from the right rearforward-facing camera (e.g., camera 108 c of FIG. 1B) is rendered on thesecond or right primary display device 174, and the feed from the rearcamera (e.g., camera 108 g of FIG. 1B) is rendered on the third orcenter primary display device 176.

The vision system discussed herein may further be embodied as a methodfor a work vehicle. In particular, the method includes initiatingoperation of the vision system; determining settings associated with thevision system; determining a situation of the work vehicle associatedwith the vision system; identifying selected feeds based on thesituation and/or operator input; identifying context informationassociated with the selected feeds; generating display signals forselected display devices for the selected feeds; and displaying theselected feeds on selected display devices.

Embodiments of the multi-camera vision system can be utilized inconjunction with various different types of work vehicles; and, further,that the vehicle cameras can capture views of any portions or regions ofthe environment surrounding or adjacent a work vehicle. Further,description of the manner in which the multi-camera display and theassociated display arrangement, display devices, and/or graphical userinterfaces appear in the illustrated examples is provided purely by wayof non-limiting illustration; noting that the “look and feel” of thedisplays on the display devices will inevitably vary among embodimentsand may be customizable to customer or operator preferences.

Accordingly, the present disclosure provides a multi-camera visionsystem and method for a work vehicle that provide more intuitive andconsistent operator experience.

Also, the following examples are provided, which are numbered for easierreference.

1. A work vehicle comprising: an operator cabin defining a firstoperator field of view (FOV) aligned with a longitudinal axis extendingin a travel direction of the work vehicle, the operator cabin defining asecond operator FOV extending along a transverse axis at an angle to thelongitudinal axis; one or more display devices within the operator cabindefining a plurality of display areas arranged at a first side, a secondside, and a central location between the first and second sides relativeto the first operator FOV; a plurality of cameras carried by the workvehicle and coupled to the one or more displays to display feeds at theplurality of display areas, the plurality of cameras including: a firstset of the plurality of cameras at or trained on the first side, thesecond side, and the central location between the first and second sidesrelative to the first operator FOV; and a second set of the plurality ofcameras at or trained on a first side, a second side, and a centrallocation between the first and second sides relative to the secondoperator FOV; and a control system having processing architectureconfigured to control, or receive control instructions regarding, theselection of feeds to display at the plurality of display areas, thecontrol system is configured to: when the work vehicle is in a firstmode of operation, display a first set of feeds from the associatedfirst side, second side, and central location of the first set of theplurality of cameras at the plurality of display areas so that theassociated feeds are arranged at the first side, the second side, andthe central location, respectively, relative to the first operator FOV;and when the work vehicle is in a second mode of operation, display asecond set of feeds from the associated first side, second side, andcentral location of the second set of the plurality of cameras at theplurality of display areas so that the associated feeds are arranged atthe first side, the second side, and the central location, respectively,relative to the second operator FOV.

2. The work vehicle of example 1, wherein the first set of the pluralityof cameras includes a first forward facing camera positioned on thefirst side of the work vehicle and a second forward facing camerapositioned on the second side of the work vehicle; and wherein the firstmode of operation is a transport mode in which the first set of feedsincludes the feed from the first forward facing camera provided on thedisplay area at the first side and the feed from the second forwardfacing camera provided on the display area at the second side.

3. The work vehicle of example 2, wherein the second set of theplurality of cameras includes a first transverse facing camerapositioned on the first side of the work vehicle and a second transversefacing camera positioned on the second side of the work vehicle; andwherein the second mode of operation is an intersection mode in whichthe second set of feeds includes the feed from the second transversefacing camera provided on the display area at the first side and thefeed from the second transverse facing camera provided on the displayarea at the second side.

4. The work vehicle of example 3, further comprising at least one sensorcoupled to the control system and configured to collect mode data, andwherein the control system is configured to automatically transitionbetween the transport mode and the intersection mode based on the modedata.

5. The work vehicle of example 1, wherein the first set of the pluralityof cameras includes a first camera positioned on a first C-post on thefirst side of the work vehicle and a second camera positioned on asecond C-post on the second side of the work vehicle; and wherein thefirst mode of operation is a set-up mode in which the first set of feedsincludes the feed from the first camera provided on the display area atthe first side and the feed form the second camera provided on thedisplay area at the second side.

6. The work vehicle of example 5, wherein the first set of the pluralityof cameras further includes a third camera positioned on a rear portionof the work vehicle and facing rearward; and wherein, in the set-up modeof operation, the first set of feeds includes the feed from the thirdcamera provided on the display area in the central location.

7. The work vehicle of example 5, wherein the second set of theplurality of cameras includes a third camera positioned on a forwardportion of the work vehicle on the first side and facing forward and afourth camera positioned on the forward portion of the work vehicle onthe second side and facing forward; and wherein the second mode ofoperation is a working mode in which the second set of feeds includesthe feed from the third camera provided on the display area at the firstside and the feed from the fourth camera provided on the display area atthe second side.

8. The work vehicle of example 5, wherein the second set of theplurality of cameras includes a third camera positioned on the firstside of the work vehicle and facing in a first transverse direction anda fourth camera positioned on the second side of the work vehicle andfacing in a second transverse direction; and wherein the second mode ofoperation is a working mode in which the second set of feeds includesthe feed from the third camera provided on the display area at the firstside and the feed from the fourth camera provided on the display area atthe second side.

9. The work vehicle of example 1, further comprising a tank positionedbehind the operator cabin; wherein the first set of the plurality ofcameras includes a first camera oriented towards the tank; and whereinthe first mode of operation is a filling mode in which the first set offeeds includes a first camera feed from the first camera provided on thecenter display area.

10. The work vehicle of example 1, wherein the first operator cabinincludes a first headliner and the display area at the central locationof the first set of display devices is positioned on or in the firstheadliner.

11. The work vehicle of example 10, wherein the first operator cabinfurther includes a first windshield at least partially bounded by afirst side C-post and a second side C-post, and the display area at thefirst side location of the first set of display devices is positioned onthe first side C-post in the first cabin and the display area at thesecond side location of the first set of display devices is positionedon the second side C-post in the first cabin.

12. The work vehicle of example 10, wherein the display area at thefirst side location of the first set of display devices and the displayarea at the second side location of the first set of display devices arepositioned on the first headliner with the display area at the centrallocation in between.

13. The work vehicle of example 1, wherein at least one of the camerasof the first set of the plurality of cameras is positioned on a workimplement.

14. A vision system for a work vehicle having an operator cabin defininga first operator field of view (FOV) aligned with a longitudinal axisextending in a travel direction of the work vehicle, the operator cabindefining a second operator FOV extending along a transverse axis at anangle to the longitudinal axis, the vision system comprising: one ormore display devices within the operator cabin defining a plurality ofdisplay areas arranged at a first side, a second side, and a centrallocation between the first and second sides relative to the firstoperator FOV; a plurality of cameras carried by the work vehicle andcoupled to the one or more displays to display feeds at the plurality ofdisplay areas, the plurality of cameras including: a first set of theplurality of cameras at or trained on the first side, the second side,and the central location between the first and second sides relative tothe first operator FOV; and a second set of the plurality of cameras ator trained on a first side, a second side, and a central locationbetween the first and second sides relative to the second operator FOV;and a control system having processing architecture configured tocontrol, or receive control instructions regarding, the selection offeeds to display at the plurality of display areas, the control systemis configured to: when the work vehicle is in a first mode of operation,display a first set of feeds from the associated first side, secondside, and central location of the first set of the plurality of camerasat the plurality of display areas so that the associated feeds arearranged at the first side, the second side, and the central location,respectively, relative to the first operator FOV; and when the workvehicle is in a second mode of operation, display a second set of feedsfrom the associated first side, second side, and central location of thesecond set of the plurality of cameras at the plurality of display areasso that the associated feeds are arranged at the first side, the secondside, and the central location, respectively, relative to the secondoperator FOV.

15. The vision system of example 14, wherein the first set of theplurality of cameras includes a first forward facing camera positionedon the first side of the work vehicle and a second forward facing camerapositioned on the second side of the work vehicle; and wherein the firstmode of operation is a transport mode in which the first set of feedsincludes the feed from the first forward facing camera provided on thedisplay area at the first side and the feed from the second forwardfacing camera provided on the display area at the second side.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the disclosure.As used herein, the singular forms “a”, “an” and “the” are intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. It will be further understood that the terms “comprises”and/or “comprising,” when used in this specification, specify thepresence of stated features, integers, steps, operations, elements,and/or components, but do not preclude the presence or addition of oneor more other features, integers, steps, operations, elements,components, and/or groups thereof.

As will be appreciated by one skilled in the art, certain aspects of thedisclosed subject matter can be embodied as a method, system (e.g., awork machine control system included in a work machine), or computerprogram product. Accordingly, certain embodiments can be implementedentirely as hardware, entirely as software (including firmware, residentsoftware, micro-code, etc.) or as a combination of software and hardware(and other) aspects. Furthermore, certain embodiments can take the formof a computer program product on a computer-usable storage medium havingcomputer-usable program code embodied in the medium.

As will be appreciated by one skilled in the art, aspects of thedisclosed subject matter can be described in terms of methods, systems(e.g., control or display systems deployed onboard or otherwise utilizedin conjunction with work machines), and computer program products. Withrespect to computer program products, in particular, embodiments of thedisclosure may consist of or include tangible, non-transitory storagemedia storing computer-readable instructions or code for performing oneor more of the functions described throughout this document. As will bereadily apparent, such computer-readable storage media can be realizedutilizing any currently-known or later-developed memory type, includingvarious types of random access memory (RAM) and read-only memory (ROM).Further, embodiments of the present disclosure are open or “agnostic” tothe particular memory technology employed, noting that magnetic storagesolutions (hard disk drive), solid state storage solutions (flashmemory), optimal storage solutions, and other storage solutions can allpotentially contain computer-readable instructions for carrying-out thefunctions described herein. Similarly, the systems or devices describedherein may also contain memory storing computer-readable instructions(e.g., as any combination of firmware or other software executing on anoperating system) that, when executed by a processor or processingsystem, instruct the system or device to perform one or more functionsdescribed herein. When locally executed, such computer-readableinstructions or code may be copied or distributed to the memory of agiven computing system or device in various different manners, such asby transmission over a communications network including the Internet.Generally, then, embodiments of the present disclosure should not belimited to any particular set of hardware or memory structure, or to theparticular manner in which computer-readable instructions are stored,unless otherwise expressly specified herein.

A computer readable signal medium can include a propagated data signalwith computer readable program code embodied therein, for example, inbaseband or as part of a carrier wave. Such a propagated signal can takeany of a variety of forms, including, but not limited to,electro-magnetic, optical, or any suitable combination thereof. Acomputer readable signal medium can be non-transitory and can be anycomputer readable medium that is not a computer readable storage mediumand that can communicate, propagate, or transport a program for use byor in connection with an instruction execution system, apparatus, ordevice.

As used herein, unless otherwise limited or modified, lists withelements that are separated by conjunctive terms (e.g., “and”) and thatare also preceded by the phrase “one or more of” or “at least one of”indicate configurations or arrangements that potentially includeindividual elements of the list, or any combination thereof. Forexample, “at least one of A, B, and C” or “one or more of A, B, and C”indicates the possibilities of only A, only B, only C, or anycombination of two or more of A, B, and C (e.g., A and B; B and C; A andC; or A, B, and C).

As used herein, the term module refers to any hardware, software,firmware, electronic control component, processing logic, and/orprocessor device, individually or in any combination, including withoutlimitation: application specific integrated circuit (ASIC), anelectronic circuit, a processor (shared, dedicated, or group) and memorythat executes one or more software or firmware programs, a combinationallogic circuit, and/or other suitable components that provide thedescribed functionality. The term module may be synonymous with unit,component, subsystem, sub-controller, circuitry, routine, element,structure, control section, and the like.

Embodiments of the present disclosure may be described herein in termsof functional and/or logical block components and various processingsteps. It should be appreciated that such block components may berealized by any number of hardware, software, and/or firmware componentsconfigured to perform the specified functions. For example, anembodiment of the present disclosure may employ various integratedcircuit components, e.g., memory elements, digital signal processingelements, logic elements, look-up tables, or the like, which may carryout a variety of functions under the control of one or moremicroprocessors or other control devices. In addition, those skilled inthe art will appreciate that embodiments of the present disclosure maybe practiced in conjunction with any number of work vehicles.

The description of the present disclosure has been presented forpurposes of illustration and description, but is not intended to beexhaustive or limited to the disclosure in the form disclosed. Manymodifications and variations will be apparent to those of ordinary skillin the art without departing from the scope and spirit of thedisclosure. Explicitly referenced embodiments herein were chosen anddescribed in order to best explain the principles of the disclosure andtheir practical application, and to enable others of ordinary skill inthe art to understand the disclosure and recognize many alternatives,modifications, and variations on the described example(s). Accordingly,various embodiments and implementations other than those explicitlydescribed are within the scope of the following claims.

What is claimed is:
 1. A work vehicle comprising: an operator cabindefining a first operator field of view (FOV) aligned with alongitudinal axis extending in a travel direction of the work vehicle,the operator cabin defining a second operator FOV extending along atransverse axis at an angle to the longitudinal axis; one or moredisplay devices within the operator cabin defining a plurality ofdisplay areas arranged at a first side, a second side, and a centrallocation between the first and second sides relative to the firstoperator FOV; a plurality of cameras carried by the work vehicle andcoupled to the one or more displays to display feeds at the plurality ofdisplay areas, the plurality of cameras including: a first set of theplurality of cameras at or trained on the first side, the second side,and the central location between the first and second sides relative tothe first operator FOV; and a second set of the plurality of cameras ator trained on a first side, a second side, and a central locationbetween the first and second sides relative to the second operator FOV;and a control system having processing architecture configured tocontrol, or receive control instructions regarding, the selection offeeds to display at the plurality of display areas, the control systemis configured to: when the work vehicle is in a first mode of operation,display a first set of feeds from the associated first side, secondside, and central location of the first set of the plurality of camerasat the plurality of display areas so that the associated feeds arearranged at the first side, the second side, and the central location,respectively, relative to the first operator FOV; and when the workvehicle is in a second mode of operation, display a second set of feedsfrom the associated first side, second side, and central location of thesecond set of the plurality of cameras at the plurality of display areasso that the associated feeds are arranged at the first side, the secondside, and the central location, respectively, relative to the secondoperator FOV.
 2. The work vehicle of claim 1, wherein the first set ofthe plurality of cameras includes a first forward facing camerapositioned on the first side of the work vehicle and a second forwardfacing camera positioned on the second side of the work vehicle; andwherein the first mode of operation is a transport mode in which thefirst set of feeds includes the feed from the first forward facingcamera provided on the display area at the first side and the feed fromthe second forward facing camera provided on the display area at thesecond side.
 3. The work vehicle of claim 2, wherein the second set ofthe plurality of cameras includes a first transverse facing camerapositioned on the first side of the work vehicle and a second transversefacing camera positioned on the second side of the work vehicle; andwherein the second mode of operation is an intersection mode in whichthe second set of feeds includes the feed from the second transversefacing camera provided on the display area at the first side and thefeed from the second transverse facing camera provided on the displayarea at the second side.
 4. The work vehicle of claim 3, furthercomprising at least one sensor coupled to the control system andconfigured to collect mode data, and wherein the control system isconfigured to automatically transition between the transport mode andthe intersection mode based on the mode data.
 5. The work vehicle ofclaim 1, wherein the first set of the plurality of cameras includes afirst camera positioned on a first C-post on the first side of the workvehicle and a second camera positioned on a second C-post on the secondside of the work vehicle; and wherein the first mode of operation is aset-up mode in which the first set of feeds includes the feed from thefirst camera provided on the display area at the first side and the feedform the second camera provided on the display area at the second side.6. The work vehicle of claim 5, wherein the first set of the pluralityof cameras further includes a third camera positioned on a rear portionof the work vehicle and facing rearward; and wherein, in the set-up modeof operation, the first set of feeds includes the feed from the thirdcamera provided on the display area in the central location.
 7. The workvehicle of claim 5, wherein the second set of the plurality of camerasincludes a third camera positioned on a forward portion of the workvehicle on the first side and facing forward and a fourth camerapositioned on the forward portion of the work vehicle on the second sideand facing forward; and wherein the second mode of operation is aworking mode in which the second set of feeds includes the feed from thethird camera provided on the display area at the first side and the feedfrom the fourth camera provided on the display area at the second side.8. The work vehicle of claim 5, wherein the second set of the pluralityof cameras includes a third camera positioned on the first side of thework vehicle and facing in a first transverse direction and a fourthcamera positioned on the second side of the work vehicle and facing in asecond transverse direction; and wherein the second mode of operation isa working mode in which the second set of feeds includes the feed fromthe third camera provided on the display area at the first side and thefeed from the fourth camera provided on the display area at the secondside.
 9. The work vehicle of claim 1, further comprising a tankpositioned behind the operator cabin; wherein the first set of theplurality of cameras includes a first camera oriented towards the tank;and wherein the first mode of operation is a filling mode in which thefirst set of feeds includes a first camera feed from the first cameraprovided on the center display area.
 10. The work vehicle of claim 1,wherein the first operator cabin includes a first headliner and thedisplay area at the central location of the first set of display devicesis positioned on or in the first headliner.
 11. The work vehicle ofclaim 10, wherein the first operator cabin further includes a firstwindshield at least partially bounded by a first side C-post and asecond side C-post, and the display area at the first side location ofthe first set of display devices is positioned on the first side C-postin the first cabin and the display area at the second side location ofthe first set of display devices is positioned on the second side C-postin the first cabin.
 12. The work vehicle of claim 10, wherein thedisplay area at the first side location of the first set of displaydevices and the display area at the second side location of the firstset of display devices are positioned on the first headliner with thedisplay area at the central location in between.
 13. The work vehicle ofclaim 1, wherein at least one of the cameras of the first set of theplurality of cameras is positioned on a work implement.
 14. A visionsystem for a work vehicle having an operator cabin defining a firstoperator field of view (FOV) aligned with a longitudinal axis extendingin a travel direction of the work vehicle, the operator cabin defining asecond operator FOV extending along a transverse axis at an angle to thelongitudinal axis, the vision system comprising: one or more displaydevices within the operator cabin defining a plurality of display areasarranged at a first side, a second side, and a central location betweenthe first and second sides relative to the first operator FOV; aplurality of cameras carried by the work vehicle and coupled to the oneor more displays to display feeds at the plurality of display areas, theplurality of cameras including: a first set of the plurality of camerasat or trained on the first side, the second side, and the centrallocation between the first and second sides relative to the firstoperator FOV; and a second set of the plurality of cameras at or trainedon a first side, a second side, and a central location between the firstand second sides relative to the second operator FOV; and a controlsystem having processing architecture configured to control, or receivecontrol instructions regarding, the selection of feeds to display at theplurality of display areas, the control system is configured to: whenthe work vehicle is in a first mode of operation, display a first set offeeds from the associated first side, second side, and central locationof the first set of the plurality of cameras at the plurality of displayareas so that the associated feeds are arranged at the first side, thesecond side, and the central location, respectively, relative to thefirst operator FOV; and when the work vehicle is in a second mode ofoperation, display a second set of feeds from the associated first side,second side, and central location of the second set of the plurality ofcameras at the plurality of display areas so that the associated feedsare arranged at the first side, the second side, and the centrallocation, respectively, relative to the second operator FOV.
 15. Thevision system of claim 14, wherein the first set of the plurality ofcameras includes a first forward facing camera positioned on the firstside of the work vehicle and a second forward facing camera positionedon the second side of the work vehicle; and wherein the first mode ofoperation is a transport mode in which the first set of feeds includesthe feed from the first forward facing camera provided on the displayarea at the first side and the feed from the second forward facingcamera provided on the display area at the second side.
 16. The visionsystem of claim 15, wherein the second set of the plurality of camerasincludes a first transverse facing camera positioned on the first sideof the work vehicle and a second transverse facing camera positioned onthe second side of the work vehicle; and wherein the second mode ofoperation is an intersection mode in which the second set of feedsincludes the feed from the second transverse facing camera provided onthe display area at the first side and the feed from the secondtransverse facing camera provided on the display area at the secondside.
 17. The vision system of claim 1, wherein the first set of theplurality of cameras includes a first camera positioned on a firstC-post on the first side of the work vehicle and a second camerapositioned on a second C-post on the second side of the work vehicle;and wherein the first mode of operation is a set-up mode in which thefirst set of feeds includes the feed from the first camera provided onthe display area at the first side and the feed from the second cameraprovided on the display area at the second side.
 18. The vision systemof claim 17, wherein the first set of the plurality of cameras furtherincludes a third camera positioned on a rear portion of the work vehicleand facing rearward; and wherein, in the set-up mode of operation, thefirst set of feeds includes the feed from the third camera provided onthe display area in the central location.
 19. The vision system of claim17, wherein the second set of the plurality of cameras includes a thirdcamera positioned on a forward portion of the work vehicle on the firstside and facing forward and a fourth camera positioned on the forwardportion of the work vehicle on the second side and facing forward; andwherein the second mode of operation is a working mode in which thesecond set of feeds includes the feed from the third camera provided onthe display area at the first side and the feed from the fourth cameraprovided on the display area at the second side.
 20. The vision systemof claim 17, wherein the second set of the plurality of cameras includesa third camera positioned on the first side of the work vehicle andfacing in a first transverse direction and a fourth camera positioned onthe second side of the work vehicle and facing in a second transversedirection; and wherein the second mode of operation is a working mode inwhich the second set of feeds includes the feed from the third cameraprovided on the display area at the first side and the feed from thefourth camera provided on the display area at the second side.